Abstract
An INS/vision integrated navigation algorithm is proposed for environments with insufficient number of landmarks. In the proposed algorithm, the raw measurements on the focal plane are directly used in order to cope with the situation where the number of landmarks are not sufficient. In addition to this, the combination of landmarks, which has smallest value of DOP, is used in the update of measurement in order to improve navigation performance. In order to evaluate the performance of the proposed integrated navigation system, Monte-Carlo simulation and van test was performed. The results of the simulation and experiment show that the proposed navigation system gives better navigation performance than an INS/vision integrated navigation system which does not use the raw measurements on the focal plane and the navigation system provides navigation solutions even in environments with insufficient number of landmarks.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Transactions of The Korean Institute of Electrical Engineers
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
